摘要 : We study the stabilizability, via the method of energy shaping, of a given Lagrangian system with two degrees of underactuation and with n ≥ 4 degrees of freedom. By making use of the formal theory of PDEs, we derive an involutive... 展开
作者 | Ng~ W.M. Chang~ D.E. Labahn~ G. |
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作者单位 | |
期刊名称 | 《SIAM Journal on Control and Optimization》 |
总页数 | 25 |
语种/中图分类号 | 英语 / O22 |
关键词 | Controlled Lagrangian Energy shaping Matching conditions Stabilizability |
馆藏号 | N2008EPST0009975 |